Revision control
++ // Copyright (C) 2016 The Qt Company Ltd.
++ // SPDX-License-Identifier: LicenseRef-Qt-Commercial OR LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only
++ // Qt-Security score:critical reason:ipc
++
++ #include "sensorfwgyroscope.h"
++
++ char const * const SensorfwGyroscope::id("sensorfw.gyroscope");
++ const float SensorfwGyroscope::MILLI = 0.001;
++
++ SensorfwGyroscope::SensorfwGyroscope(QSensor *sensor)
++ : SensorfwSensorBase(sensor)
++ , m_initDone(false)
++ {
++ init();
++ setDescription(QLatin1String("angular velocities around x, y, and z axis in degrees per second"));
++ setRanges(MILLI);
++ setReading<QGyroscopeReading>(&m_reading);
++ addDataRate(10, 10);
++ addDataRate(50, 50);
++ sensor->setDataRate(50);//set a default rate
++ }
++
++ void SensorfwGyroscope::slotDataAvailable(const XYZ& data)
++ {
++ m_reading.setX((qreal)(data.x()*MILLI));
++ m_reading.setY((qreal)(data.y()*MILLI));
++ m_reading.setZ((qreal)(data.z()*MILLI));
++ m_reading.setTimestamp(data.XYZData().timestamp_);
++ newReadingAvailable();
++ }
++
++ void SensorfwGyroscope::slotFrameAvailable(const QList<XYZ> &frame)
++ {
++ for (int i=0, l=frame.size(); i<l; i++) {
++ slotDataAvailable(frame.at(i));
++ }
++ }
++
++ bool SensorfwGyroscope::doConnect()
++ {
++ Q_ASSERT(m_sensorInterface);
++ if (m_bufferSize==1)
++ return QObject::connect(m_sensorInterface, SIGNAL(dataAvailable(XYZ)), this, SLOT(slotDataAvailable(XYZ)));
++ return QObject::connect(m_sensorInterface, SIGNAL(frameAvailable(QList<XYZ>)), this,
++ SLOT(slotFrameAvailable(QList<XYZ>)));
++ }
++
++ QString SensorfwGyroscope::sensorName() const
++ {
++ return "gyroscopesensor";
++ }
++
++ qreal SensorfwGyroscope::correctionFactor() const
++ {
++ return MILLI;
++ }
++
++ void SensorfwGyroscope::init()
++ {
++ m_initDone = false;
++ initSensor<GyroscopeSensorChannelInterface>(m_initDone);
++ }
++
++ void SensorfwGyroscope::start()
++ {
++ if (reinitIsNeeded)
++ init();
++ SensorfwSensorBase::start();
++ }